#!/bin/bash
#本脚本用于离线拼图
source /home/robot/slam_2d/install_isolated/setup.bash

bag_filenames=${1:-'/home/robot/map/mapping.bag'}

initial_x=${2:-'0.0'}
initial_y=${3:-'0.0'}
initial_yaw=${4:-'0.0'}

roslaunch slam_ros offline_multi_mapping.launch bag_filenames:=$bag_filenames \
				initial_pose_x:=$initial_x \
                initial_pose_y:=$initial_y \
                initial_pose_yaw:=$initial_yaw